May 2025 - 56 articles
This research addresses the challenge of precise trajectory tracking for cart–pendulum robotic systems affected by unknown nonlinear actuator dynamics. We introduce a novel control framework that combines neural network modeling with adaptive p...
In this paper, we study the stability of the stochastically heterogeneous traffic flow involving connected and automated vehicles (CAVs) and human-driven vehicles (HDVs). Taking the stochasticity of vehicle arrivals and behaviors into account, a gene...
The underwater unstructured environment poses new challenges for the miniaturization and flexibility of underwater vehicles. This paper proposes a method of using micrometer-scale vibrations of piezoelectric vibrators to drive macroscopic jets. Then,...
Effective fault diagnosis in rotating machinery means extracting fault features from complex samples. However, traditional data-driven methods often overly rely on labeled samples and struggle with extracting high-order complex features. To address t...
In this paper, we present the details of the actuator design for our humanoid robot, Mithra. Mithra has been designed to match an average adult human in terms of kinematic and kinetic characteristics. This poses various challenges in actuator design...
A novel brushless power feedback permanent magnet adjustable speed drive (BLPF-PMASD) is developed for the energy-saving of a large power electrical machine drive system in this paper. It can transfer the slip power between the input and output shaft...
The Risley prism system offers advantages such as compact structure and excellent dynamic performance, making it suitable for installation on static and motion platforms for target acquisition, aiming, and tracking. This paper presents a strapdown li...
In this paper, a real-time assistive torque controller based on sliding-mode control is proposed for a Series Elastic Actuator (SEA)-driven lower limb assistive exoskeleton. To address the problem of the lack of buffering properties and the uneven to...
In aerospace manufacturing, the reliability of machining equipment, particularly spindle bearings, is critical to maintaining productivity, as bearing health significantly constrains operational efficiency. Accurate prediction of the remaining useful...
In this paper, an adaptive control scheme composed of an estimated feed-forward compensation and a PD control law with three mutually independent estimators is proposed for the tracking of desired trajectories in joint space for a robotic arm. One of...
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